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This paper presents a control method for a medical glove with intelligent actuators for a hand with disabilities. The medical glove has got on outer superior face, an intelligent actuator to every finger, which helps it to bend and to grasp different objects and on outer inferior face a force distributed sensor system. The dynamic model of the outer superior face finger is determined and an approximate model is proposed. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the distribution force. Then, the lower-level local control problem is treated as an open-chain hyper-redundant structure control problem. The fuzzy rules are established and a fuzzy controller is proposed. 1 PHYSIOLOGICAL ASPECTS OF HAND FUNCTIONS The hand functions as an effector organ of the upper extremity for: support, manipulation, prehension. As a support, the hand acts in a non-specific manner to brace or stabilise an object and, also, as a simple platform to transfer or accept forces. The most varied function of the hand is its ability to dynamically manipulate objects. Fingers motions may be repetitive and blunt (typing or scratching) or continuous and fluid with the rate and intensity of motion continuous controlled (writing or sewing). Prehension describes the ability of the fingers to grasp for holding, securing and picking up objects. There are many form of prehension: the grip, in which all fingers are used, the pinch, in which primarily the thumb and index fingers are used, the power grip, the precision grip, the power pinch, the precision pinch, hook grip and others. For hand prosthesis the prehension is the first goal. In this paper we propose a special glove (a hand prosthesis) that realises a great help for the fingers flexion on their grip tasks to a hand with disabilities (the fingers have a great stiffness in their actions) while the other hand is a good hand. We need to know the proper correspondence between fingers actions and the activation of the nerves of the hand upper extremity. The nerves responsible for the hand motor control are: the radial nerve, the median nerve, the ulnar nerve (Neumann, 2002), (Zaharia, 1994). The radial nerve innervates the extrinsic extensor muscles of the fingers and is responsible for the sensation on the dorsal part of the wrist and hand. The median nerve innervates most of the extrinsic flexor muscles of the fingers and is responsible for the sensation on the palmar-lateral part of the hand and the lateral three and one-half fingers. The ulnar nerve innervates the medial half of the flexor digitorum profundus muscle and is responsible for the sensation on the ulnar border of the hand and the ulnar one and one-half fingers. So, we propose the connection of the special glove with the median nerve and the ulnar nerve, because they realise the flexion motion of the hand in prehension. This is necessary, also, for maintaining the indispensable cortical representation of the motor and sensitive hand images. 270 Stoian V., Ivanescu M., Stoian E. and Iancu I. (2005). A FUZZY CONTROLLER FOR A SPECIAL GLOVE TO A HAND WITH DISABILITIES. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics Robotics and Automation, pages 270-276 DOI: 10.5220/0001186402700276 Copyright c © SciTePress Figure 1: The muscular structure of the hand 2 PHYSICAL STRUCTURE In Figure 2 is presented the physical structure of the special glove. On the superior faces of the glove fingers are fixed 5 tubes with have their structure presented in Figure 3 (hydraulic or pneumatic actuators) and on the inferior faces (at end of the glove fingers) are fixed strain-gaugeds for force measurement. The chambers of the segment have reinforced rubber walls with fibers on a circular direction. Thus, it is easy to deform it in the axial direction while it resists deformation in the radial direction. The cylinder can be bent in a plan (or in any direction, if it has 3 chambers) by appropriately controlling the pressure in the two (three) chambers (Figure 3). This tube has a hyper-redundant structure with a great number of points of mobility. 3 HIERARCHICAL CONTROL The problem of controlling coordinating robotic systems with multiple chains in real time is complex. A multiple chain hyper-redundant system is more complicated. A hyper-redundant robotic element is a physical system with a great flexibility, with a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtainned by using a cellular structure for each element of Figure 2: Physical structure of the special glove Figure 3: Physical structure of the tube the tube. The control can be produced using an electro-hydraulic or pneumatic action that determines the contraction or dilatation the peripheral cells. The first problem is the global coordination problem that involves coordination of several hyper-redundant elements in order to assure a desired trajectory of a load. The second problem is the local control problem, which involves the control of the individual elements of the fingers to achieve the desired position. The force distribution is a subproblem in which the motion is completely specified and the internal forces/torques to effect this motion is to be determined. To resolve this large scale control problem, a two level hierarchical control scheme is used (Cheng, 1995). The upper-level sysBiceps Flexor carpi radialis Flexor pollicis brevis A FUZZY CONTROLLER FOR A SPECIAL GLOVE TO A HAND WITH DISABILITIES